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One of the key steps in creating quality interactive drama is the ability to create quality interactive characters (or believable agents). Two important aspects of such characters will be that they appear emotional and that they can engage in social interactions. My basic approach to these problems has been to use a broad agent architecture and minimal(More)
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a framework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms. It also provides a hmework that will simplify the integration of new technologies and enable the comparison of(More)
We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and(More)
The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the oocial policies, either expressed or implied, of any other parties. Abstract Planning, the process of nding a course of action which can be executed to achieve some goal, is an important and well-studied area of AI. One of the(More)
Geometric uncertainty is unavoidable when programming robots for physical applications. We propose a stochastic framework for manipulation planning where plans are ranked on the basis of expected cost. That is, we express the desirability of states and actions with a cost function and describe uncertainty with probability distributions. We illustrate the(More)
We have developed a software architecture for teams of robots and humans to jointly perform tightly coordinated tasks, such as assembly of structures in orbit or on planetary surfaces. While we envision that robots will autonomously perform such work in the future, the state of the art falls short of the capabilities necessary to handle all possible(More)
Recent research in human-robot interaction has investigated the concept of Sliding, or Adjustable, Autonomy, a mode of operation bridging the gap between explicit teleoperation and complete robot autonomy. This work has largely been in single-agent domains – involving only one human and one robot – and has not examined the issues that arise in multi-agent(More)
— For many people, driving is a routine activity where people drive to the same destinations using the same routes on a regular basis. Many drivers, for example, will drive to and from work along a small set of routes, at about the same time every day of the working week. Similarly, although a person may shop on different days or at different times, they(More)